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fix MonocularVOExample.m

release/4.3a0
lvzhaoyang 2014-12-06 23:25:53 -05:00
parent a67289b240
commit 615709dd49
1 changed files with 2 additions and 2 deletions
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4
matlab/gtsam_examples/MonocularVOExample.m
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@ -40,7 +40,7 @@ end
%% Create initial estimate %% Create initial estimate
initial = Values; initial = Values;
trueE = EssentialMatrix(aRb,Sphere2(aTb)); trueE = EssentialMatrix(aRb,Unit3(aTb));
initialE = trueE.retract([0.1, -0.1, 0.1, 0.1, -0.1]'); initialE = trueE.retract([0.1, -0.1, 0.1, 0.1, -0.1]');
initial.insert(1, initialE); initial.insert(1, initialE);
@ -52,5 +52,5 @@ result = optimizer.optimize();
%% Print result (as essentialMatrix) and error %% Print result (as essentialMatrix) and error
error = graph.error(result) error = graph.error(result)
E = result.at(1) E = result.atEssentialMatrix(1)